Year: 2025
Type: preprint
Abstract: Utilizing teams of multiple robots is advantageous for handling bulky objects. Many related works focus on multi-manipulator systems, which are limited by workspace constraints. In this paper, we extend a classical hybrid motion-force controller to a team of legged manipulator systems, enabling collaborative loco-manipulation of rigid objects with a force-closed grasp. Our novel approach allows the robots to flexibly coordinate their movements, achieving efficient and stable object co-manipulation and transport, validated through extensive simulations and real-world experiments.
Source: arXiv (Cornell University)
Authors: Wang, Shengzhi, Dehio, Niels, Zeng, Xuanqi, Yang, Xian, Zhang, Lingwei, Liu, Yun-Hui, Au, K. W. Samuel
Institutions: Chinese University of Hong Kong, KUKA (Germany)
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W7084407641
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